Removed the inline modifiers.

Solved some minor bugs in the Dynamixel 2 interface.

comm/include/comm.h

@@ -498,11 +498,11 @@ comm_error comm_is_receive_done(TComm *dev);
  * \brief Function to get the communication error
  * 
  */
-inline unsigned char comm_get_error(TComm *dev);
+unsigned char comm_get_error(TComm *dev);
 /** 
  * \brief Function to set the communication error
  * 
  */
-inline void comm_set_error(TComm *dev, unsigned char error);
+void comm_set_error(TComm *dev, unsigned char error);
 
 #endif

comm/src/comm.c

@@ -330,12 +330,12 @@ comm_error comm_is_receive_done(TComm *dev)
   }
 }
 
-inline unsigned char comm_get_error(TComm *dev)
+unsigned char comm_get_error(TComm *dev)
 {
   return dev->error;
 }
 
-inline void comm_set_error(TComm *dev, unsigned char error)
+void comm_set_error(TComm *dev, unsigned char error)
 {
   dev->error=error;
 }

dynamixel_base/include/dynamixel_common.h → dynamixel_base/include/dyn_common.h

-#ifndef _DYNAMIXEL_COMMON_H
-#define _DYNAMIXEL_COMMON_H
+#ifndef _DYN_COMMON_H
+#define _DYN_COMMON_H
 
 #define     MAX_DATA_LENGTH     255
 
@@ -17,9 +17,9 @@ typedef struct{
   unsigned char *data_addr;
 }TWriteData;
 
-typedef enum{no_return=0x00,
-             return_only_read=0x01,
-             return_all=0x02} return_level_t;
+typedef enum{NO_RETURN=0x00,
+             RETURN_ONLY_READ=0x01,
+             RETURN_ALL=0x02} TReturnLevel;
 
 // possible packet types
 typedef enum{DYN_PING=0x01,

dynamixel_base/include/dynamixel.h

 #ifndef _DYNAMIXEL_H
 #define _DYNAMIXEL_H
 
-#include "dynamixel_common.h"
+#include "dyn_common.h"
 
 #define     DYN_HEADER_OFF      0
 #define     DYN_ID_OFF          2
@@ -11,9 +11,9 @@
 #define     DYN_DATA_OFF        5
 
 void dyn_copy_packet(unsigned char *source, unsigned char *destination);
-inline unsigned char dyn_get_id(unsigned char *packet);
-inline unsigned char dyn_get_length(unsigned char *packet);
-inline TDynInstruction dyn_get_instruction(unsigned char *packet);
+unsigned char dyn_get_id(unsigned char *packet);
+unsigned char dyn_get_length(unsigned char *packet);
+TDynInstruction dyn_get_instruction(unsigned char *packet);
 unsigned char dyn_check_checksum(unsigned char *packet);
 
 // instruction packet
@@ -32,17 +32,17 @@ unsigned char dyn_convert_v2_inst_packet(unsigned char *source, unsigned char *d
 void dyn_init_ping_packet(unsigned char *packet,unsigned char id);
 /* read instruction */
 void dyn_init_read_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length);
-inline unsigned char dyn_get_read_length(unsigned char *packet);
-inline unsigned char dyn_get_read_address(unsigned char *packet);
+unsigned char dyn_get_read_length(unsigned char *packet);
+unsigned char dyn_get_read_address(unsigned char *packet);
 /* write instruction */
 void dyn_init_write_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length,unsigned char *data);
-inline unsigned char dyn_get_write_address(unsigned char *packet);
-inline unsigned char dyn_get_write_length(unsigned char *packet);
-inline unsigned char dyn_get_write_data(unsigned char *packet,unsigned char *data);
+unsigned char dyn_get_write_address(unsigned char *packet);
+unsigned char dyn_get_write_length(unsigned char *packet);
+unsigned char dyn_get_write_data(unsigned char *packet,unsigned char *data);
 /* registered write instruction */
 void dyn_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned char address,unsigned char length,unsigned char *data);
-inline unsigned char dyn_get_reg_write_address(unsigned char *packet);
-inline unsigned char dyn_get_reg_write_length(unsigned char *packet);
+unsigned char dyn_get_reg_write_address(unsigned char *packet);
+unsigned char dyn_get_reg_write_length(unsigned char *packet);
 unsigned char dyn_get_reg_write_data(unsigned char *packet,unsigned char *data);
 /* action instruction */
 void dyn_init_action_packet(unsigned char *packet);
@@ -69,9 +69,9 @@ typedef struct{
 
 unsigned char dyn_convert_v2_status_packet(unsigned char *source, unsigned char *destination);
 void dyn_init_status_packet(unsigned char *packet,unsigned char id,TDynError error,unsigned char length,unsigned char *data);
-inline TDynError dyn_get_status_error(unsigned char *packet);
+TDynError dyn_get_status_error(unsigned char *packet);
 /* read instruction status packet */
 unsigned char dyn_get_read_status_data(unsigned char *packet,unsigned char *data);
-inline unsigned char dyn_get_read_status_id(unsigned char *packet);
+unsigned char dyn_get_read_status_id(unsigned char *packet);
 
 #endif

dynamixel_base/include/dynamixel2.h

 #ifndef _DYNAMIXEL2_H
 #define _DYNAMIXEL2_H
 
-#include "dynamixel_common.h"
+#include "dyn_common.h"
 
 #define     DYN2_HEADER_OFF      0
 #define     DYN2_RESERVED        3
@@ -13,9 +13,9 @@
 
 
 void dyn2_copy_packet(unsigned char *source, unsigned char *destination);
-inline unsigned char dyn2_get_id(unsigned char *packet);
-inline unsigned short int dyn2_get_length(unsigned char *packet);
-inline TDynInstruction dyn2_get_instruction(unsigned char *packet);
+unsigned char dyn2_get_id(unsigned char *packet);
+unsigned short int dyn2_get_length(unsigned char *packet);
+TDynInstruction dyn2_get_instruction(unsigned char *packet);
 unsigned char dyn2_check_checksum(unsigned char *packet);
 
 // instruction packet
@@ -34,17 +34,17 @@ unsigned char dyn2_convert_v1_inst_packet(unsigned char *source, unsigned char *
 void dyn2_init_ping_packet(unsigned char *packet,unsigned char id);
 /* read instruction */
 void dyn2_init_read_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length);
-inline unsigned short int dyn2_get_read_length(unsigned char *packet);
-inline unsigned short int dyn2_get_read_address(unsigned char *packet);
+unsigned short int dyn2_get_read_length(unsigned char *packet);
+unsigned short int dyn2_get_read_address(unsigned char *packet);
 /* write instruction */
 void dyn2_init_write_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data);
-inline unsigned short int dyn2_get_write_address(unsigned char *packet);
-inline unsigned short int dyn2_get_write_length(unsigned char *packet);
-inline unsigned short int dyn2_get_write_data(unsigned char *packet,unsigned char *data);
+unsigned short int dyn2_get_write_address(unsigned char *packet);
+unsigned short int dyn2_get_write_length(unsigned char *packet);
+unsigned short int dyn2_get_write_data(unsigned char *packet,unsigned char *data);
 /* registered write instruction */
 void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data);
-inline unsigned short int dyn2_get_reg_write_address(unsigned char *packet);
-inline unsigned short int dyn2_get_reg_write_length(unsigned char *packet);
+unsigned short int dyn2_get_reg_write_address(unsigned char *packet);
+unsigned short int dyn2_get_reg_write_length(unsigned char *packet);
 unsigned short int dyn2_get_reg_write_data(unsigned char *packet,unsigned char *data);
 /* action instruction */
 void dyn2_init_action_packet(unsigned char *packet);
@@ -77,9 +77,9 @@ typedef struct{
 
 unsigned char dyn2_convert_v1_status_packet(TDynInstruction inst,unsigned char *source, unsigned char *destination);
 void dyn2_init_status_packet(unsigned char *packet,unsigned char id,TDynError error,unsigned short int length,unsigned char *data);
-inline TDynError dyn2_get_status_error(unsigned char *packet);
+TDynError dyn2_get_status_error(unsigned char *packet);
 /* read instruction status packet */
 unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char *data);
-inline unsigned char dyn2_get_read_status_id(unsigned char *packet);
+unsigned char dyn2_get_read_status_id(unsigned char *packet);
 
 #endif

dynamixel_base/include/dynamixel_master.h

@@ -21,7 +21,7 @@ typedef struct
   unsigned short int op_length;
   unsigned char tx_buffer[MAX_DYN_MASTER_TX_BUFFER_LEN];
   unsigned char rx_buffer[MAX_DYN_MASTER_RX_BUFFER_LEN];
-  return_level_t return_level;
+  TReturnLevel return_level;
   unsigned char packet_ready;
   unsigned char received_bytes;
   void (*set_tx_mode)(void);
@@ -34,8 +34,8 @@ typedef struct
 /* public functions */
 void dyn_master_init(TDynamixelMaster *master,TComm *dev,TDynVersion version);
 void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeout_ms);
-inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level);
-inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master);
+void dyn_master_set_return_level(TDynamixelMaster *master,TReturnLevel level);
+TReturnLevel dyn_master_get_return_level(TDynamixelMaster *master);
 void dyn_master_scan(TDynamixelMaster *master,unsigned char *num,unsigned char *ids);
 unsigned char dyn_master_ping(TDynamixelMaster *master,unsigned char id);
 unsigned char dyn_master_read_byte(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned char *data);

dynamixel_base/include/dynamixel_slave.h

@@ -23,7 +23,7 @@ typedef struct
   TDynVersion version;
   unsigned char address;
   unsigned char return_delay;
-  return_level_t return_level;
+  TReturnLevel return_level;
   unsigned char packet_ready;
   unsigned char received_bytes;
   unsigned short int rx_timeout_ms;
@@ -50,13 +50,13 @@ typedef struct
 /* public functions */
 void dyn_slave_init(TDynamixelSlave *slave,TComm *dev,unsigned char address,TDynVersion version);
 void dyn_slave_set_rx_timeout(TDynamixelSlave *slave,unsigned short int timeout_ms);
-inline void dyn_slave_set_address(TDynamixelSlave *slave,unsigned char address);
-inline unsigned char dyn_slave_get_address(TDynamixelSlave *slave);
-inline void dyn_slave_set_return_delay(TDynamixelSlave *slave,unsigned char delay);
-inline unsigned char dyn_slave_get_return_delay(TDynamixelSlave *slave);
-inline void dyn_slave_set_return_level(TDynamixelSlave *slave,return_level_t level);
-inline return_level_t dyn_slave_get_return_level(TDynamixelSlave *slave);
-inline TDynVersion dyn_slave_get_version(TDynamixelSlave *slave);
+void dyn_slave_set_address(TDynamixelSlave *slave,unsigned char address);
+unsigned char dyn_slave_get_address(TDynamixelSlave *slave);
+void dyn_slave_set_return_delay(TDynamixelSlave *slave,unsigned char delay);
+unsigned char dyn_slave_get_return_delay(TDynamixelSlave *slave);
+void dyn_slave_set_return_level(TDynamixelSlave *slave,TReturnLevel level);
+TReturnLevel dyn_slave_get_return_level(TDynamixelSlave *slave);
+TDynVersion dyn_slave_get_version(TDynamixelSlave *slave);
 void dyn_slave_loop(TDynamixelSlave *slave);
 
 

dynamixel_base/src/dynamixel.c

@@ -40,17 +40,17 @@ void dyn_copy_packet(unsigned char *source, unsigned char *destination)
     destination[i]=source[i];
 }
 
-inline unsigned char dyn_get_id(unsigned char *packet)
+unsigned char dyn_get_id(unsigned char *packet)
 {
   return packet[DYN_ID_OFF];
 }
 
-inline unsigned char dyn_get_length(unsigned char *packet)
+unsigned char dyn_get_length(unsigned char *packet)
 {
   return packet[DYN_LENGTH_OFF];
 }
 
-inline TDynInstruction dyn_get_instruction(unsigned char *packet)
+TDynInstruction dyn_get_instruction(unsigned char *packet)
 {
   return packet[DYN_INST_OFF];
 }
@@ -99,12 +99,12 @@ void dyn_init_read_packet(unsigned char *packet,unsigned char id,unsigned char a
   dyn_set_checksum(packet);
 }
 
-inline unsigned char dyn_get_read_length(unsigned char *packet)
+unsigned char dyn_get_read_length(unsigned char *packet)
 {
   return packet[DYN_DATA_OFF+1];
 }
 
-inline unsigned char dyn_get_read_address(unsigned char *packet)
+unsigned char dyn_get_read_address(unsigned char *packet)
 {
   return packet[DYN_DATA_OFF];
 }
@@ -125,12 +125,12 @@ void dyn_init_write_packet(unsigned char *packet,unsigned char id,unsigned char
   dyn_set_checksum(packet);
 }
 
-inline unsigned char dyn_get_write_address(unsigned char *packet)
+unsigned char dyn_get_write_address(unsigned char *packet)
 {
   return packet[DYN_DATA_OFF];
 }
 
-inline unsigned char dyn_get_write_length(unsigned char *packet)
+unsigned char dyn_get_write_length(unsigned char *packet)
 {
   return packet[DYN_LENGTH_OFF]-3;
 }
@@ -161,12 +161,12 @@ void dyn_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned c
   dyn_set_checksum(packet);
 }
 
-inline unsigned char dyn_get_reg_write_address(unsigned char *packet)
+unsigned char dyn_get_reg_write_address(unsigned char *packet)
 {
   return packet[DYN_DATA_OFF];
 }
 
-inline unsigned char dyn_get_reg_write_length(unsigned char *packet)
+unsigned char dyn_get_reg_write_length(unsigned char *packet)
 {
   return packet[DYN_LENGTH_OFF]-3;
 }
@@ -315,7 +315,7 @@ void dyn_init_status_packet(unsigned char *packet,unsigned char id,TDynError err
   dyn_set_checksum(packet); 
 }
 
-inline TDynError dyn_get_status_error(unsigned char *packet)
+TDynError dyn_get_status_error(unsigned char *packet)
 {
   return packet[DYN_ERROR_OFF];
 }
@@ -331,7 +331,7 @@ unsigned char dyn_get_read_status_data(unsigned char *packet,unsigned char *data
   return packet[DYN_LENGTH_OFF]-0x02;
 }
 
-inline unsigned char dyn_get_read_status_id(unsigned char *packet)
+unsigned char dyn_get_read_status_id(unsigned char *packet)
 {
   return packet[DYN_ID_OFF];
 }

dynamixel_base/src/dynamixel2.c

@@ -79,17 +79,17 @@ void dyn2_copy_packet(unsigned char *source, unsigned char *destination)
     destination[i]=source[i];
 }
 
-inline unsigned char dyn2_get_id(unsigned char *packet)
+unsigned char dyn2_get_id(unsigned char *packet)
 {
   return packet[DYN2_ID_OFF];
 }
 
-inline unsigned short int dyn2_get_length(unsigned char *packet)
+unsigned short int dyn2_get_length(unsigned char *packet)
 {
   return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256);
 }
 
-inline TDynInstruction dyn2_get_instruction(unsigned char *packet)
+TDynInstruction dyn2_get_instruction(unsigned char *packet)
 {
   return packet[DYN2_INST_OFF];
 }
@@ -145,12 +145,12 @@ void dyn2_init_read_packet(unsigned char *packet,unsigned char id,unsigned short
   dyn2_set_checksum(packet);
 }
 
-inline unsigned short int dyn2_get_read_length(unsigned char *packet)
+unsigned short int dyn2_get_read_length(unsigned char *packet)
 {
   return (packet[DYN2_DATA_OFF+2]+packet[DYN2_DATA_OFF+3]*256);
 }
 
-inline unsigned short int dyn2_get_read_address(unsigned char *packet)
+unsigned short int dyn2_get_read_address(unsigned char *packet)
 {
   return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
 }
@@ -175,12 +175,12 @@ void dyn2_init_write_packet(unsigned char *packet,unsigned char id,unsigned shor
   dyn2_set_checksum(packet);
 }
 
-inline unsigned short int dyn2_get_write_address(unsigned char *packet)
+unsigned short int dyn2_get_write_address(unsigned char *packet)
 {
   return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
 }
 
-inline unsigned short int dyn2_get_write_length(unsigned char *packet)
+unsigned short int dyn2_get_write_length(unsigned char *packet)
 {
   return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-5;
 }
@@ -216,12 +216,12 @@ void dyn2_init_reg_write_packet(unsigned char *packet,unsigned char id,unsigned
   dyn2_set_checksum(packet);
 }
 
-inline unsigned short int dyn2_get_reg_write_address(unsigned char *packet)
+unsigned short int dyn2_get_reg_write_address(unsigned char *packet)
 {
   return (packet[DYN2_DATA_OFF]+packet[DYN2_DATA_OFF+1]*256);
 }
 
-inline unsigned short int dyn2_get_reg_write_length(unsigned char *packet)
+unsigned short int dyn2_get_reg_write_length(unsigned char *packet)
 {
   return (packet[DYN2_LENGTH_OFF]+packet[DYN2_LENGTH_OFF+1]*256)-5;
 }
@@ -348,7 +348,7 @@ unsigned char dyn2_sync_read_id_present(unsigned char *packet,unsigned char id,u
       if(i==0)
         return 0x00;
       else
-        return packet[DYN2_DATA_OFF+3+i];
+        return packet[DYN2_DATA_OFF+4+i];
     }
   return 0xFF;
 }
@@ -491,7 +491,7 @@ void dyn2_init_status_packet(unsigned char *packet,unsigned char id,TDynError er
   dyn2_set_checksum(packet); 
 }
 
-inline TDynError dyn2_get_status_error(unsigned char *packet)
+TDynError dyn2_get_status_error(unsigned char *packet)
 {
   return packet[DYN2_DATA_OFF];
 }
@@ -508,7 +508,7 @@ unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char
   return length;
 }
 
-inline unsigned char dyn2_get_read_status_id(unsigned char *packet)
+unsigned char dyn2_get_read_status_id(unsigned char *packet)
 {
   return packet[DYN2_ID_OFF];
 }

dynamixel_base/src/dynamixel_master.c

@@ -251,7 +251,7 @@ unsigned char dyn_master_start_read_table(TDynamixelMaster *master,unsigned char
   else
     dyn2_init_read_packet(master->tx_buffer,id,address,length);
   master->rx_num_packets=0x01;
-  if(master->return_level==no_return || id==DYN_BROADCAST_ID)
+  if(master->return_level==NO_RETURN || id==DYN_BROADCAST_ID)
     master->rx_no_answer=0x01;
   else
     master->rx_no_answer=0x00;
@@ -271,7 +271,7 @@ unsigned char dyn_master_is_read_table_done(TDynamixelMaster *master,unsigned ch
   if((error=dyn_master_is_transmission_done(master))==DYN_SUCCESS)
   {
     // wait for the replay within the given timeout
-    if(master->return_level!=no_return && id!=DYN_BROADCAST_ID)
+    if(master->return_level!=NO_RETURN && id!=DYN_BROADCAST_ID)
     {
       if((error=dyn_master_is_reception_done(master))==DYN_SUCCESS)
       {
@@ -331,7 +331,7 @@ unsigned char dyn_master_start_write_table(TDynamixelMaster *master,unsigned cha
   else
     dyn2_init_write_packet(master->tx_buffer,id,address,length,data);
   master->rx_num_packets=0x01;
-  if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+  if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     master->rx_no_answer=0x00;
   else
     master->rx_no_answer=0x01;
@@ -351,7 +351,7 @@ unsigned char dyn_master_is_write_table_done(TDynamixelMaster *master,unsigned c
   if((error=dyn_master_is_transmission_done(master))==DYN_SUCCESS)
   {
     // wait for the replay within the given timeout
-    if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+    if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     {
       if((error=dyn_master_is_reception_done(master))==DYN_SUCCESS)
       {
@@ -426,7 +426,7 @@ unsigned char dyn_master_start_sync_read(TDynamixelMaster *master,unsigned char
   {
     dyn2_init_sync_read_packet(master->tx_buffer,num,ids,address,length);
     master->rx_num_packets=num;
-    if(master->return_level==no_return)
+    if(master->return_level==NO_RETURN)
       master->rx_no_answer=0x01;
     else
       master->rx_no_answer=0x00;
@@ -453,7 +453,7 @@ unsigned char dyn_master_is_sync_read_done(TDynamixelMaster *master,unsigned cha
     if((error=dyn_master_is_transmission_done(master))==DYN_SUCCESS)
     {
       // wait for the replay within the given timeout
-      if(master->return_level!=no_return)
+      if(master->return_level!=NO_RETURN)
       {
         if(num_dev_done<num)
         {
@@ -554,7 +554,7 @@ unsigned char dyn_master_start_bulk_read(TDynamixelMaster *master,unsigned char
   else
     dyn2_init_bulk_read_packet(master->tx_buffer,num,ids,address,length);
   master->rx_num_packets=num;
-  if(master->return_level==no_return)
+  if(master->return_level==NO_RETURN)
     master->rx_no_answer=0x01;
   else
     master->rx_no_answer=0x00;
@@ -575,7 +575,7 @@ unsigned char dyn_master_is_bulk_read_done(TDynamixelMaster *master,unsigned cha
   if((error=dyn_master_is_transmission_done(master))==DYN_SUCCESS)
   {
     // wait for the replay within the given timeout
-    if(master->return_level!=no_return)
+    if(master->return_level!=NO_RETURN)
     {
       if(num_dev_done<num)
       {
@@ -657,7 +657,7 @@ void dyn_master_init(TDynamixelMaster *master,TComm *dev,TDynVersion version)
   master->rx_timeout_ms=50;
   master->rx_no_answer=0x00;
   master->rx_num_packets=0x00;
-  master->return_level=return_all;
+  master->return_level=RETURN_ALL;
 
   master->set_rx_mode();
 }
@@ -667,12 +667,12 @@ void dyn_master_set_rx_timeout(TDynamixelMaster *master,unsigned short int timeo
   master->rx_timeout_ms=timeout_ms;
 }
 
-inline void dyn_master_set_return_level(TDynamixelMaster *master,return_level_t level)
+void dyn_master_set_return_level(TDynamixelMaster *master,TReturnLevel level)
 {
   master->return_level=level;
 }
 
-inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master)
+TReturnLevel dyn_master_get_return_level(TDynamixelMaster *master)
 {
   return master->return_level;
 }
@@ -750,7 +750,7 @@ unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,un
   else
     dyn2_init_read_packet(master->tx_buffer,id,address,length);
   master->rx_num_packets=0x01;
-  if(master->return_level==no_return || id==DYN_BROADCAST_ID)
+  if(master->return_level==NO_RETURN || id==DYN_BROADCAST_ID)
     master->rx_no_answer=0x01;
   else
     master->rx_no_answer=0x00;
@@ -769,7 +769,7 @@ unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,un
     return error;
   }
   // wait for the replay within the given timeout
-  if(master->return_level!=no_return && id!=DYN_BROADCAST_ID)
+  if(master->return_level!=NO_RETURN && id!=DYN_BROADCAST_ID)
   {
     if((error=dyn_master_wait_reception(master))==DYN_SUCCESS)
     {
@@ -813,7 +813,7 @@ unsigned char dyn_master_write_table(TDynamixelMaster *master,unsigned char id,
   else
     dyn2_init_write_packet(master->tx_buffer,id,address,length,data);
   master->rx_num_packets=0x01;
-  if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+  if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     master->rx_no_answer=0x00;
   else
     master->rx_no_answer=0x01;
@@ -832,7 +832,7 @@ unsigned char dyn_master_write_table(TDynamixelMaster *master,unsigned char id,
     return error;
   }
   // wait for the replay within the given timeout
-  if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+  if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     error=dyn_master_wait_reception(master);
 
   return error;
@@ -848,7 +848,7 @@ unsigned char dyn_master_reg_write(TDynamixelMaster *master,unsigned char id, un
   else
     dyn2_init_reg_write_packet(master->tx_buffer,id,address,length,data);
   master->rx_num_packets=0x01;
-  if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+  if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     master->rx_no_answer=0x00;
   else
     master->rx_no_answer=0x01;
@@ -867,7 +867,7 @@ unsigned char dyn_master_reg_write(TDynamixelMaster *master,unsigned char id, un
     return error;
   }
   // wait for the replay within the given timeout
-  if(master->return_level==return_all && id!=DYN_BROADCAST_ID)
+  if(master->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
     error=dyn_master_wait_reception(master);
 
   return error;
@@ -940,7 +940,7 @@ unsigned char dyn_master_sync_read(TDynamixelMaster *master,unsigned char num,un
   {
     dyn2_init_sync_read_packet(master->tx_buffer,num,ids,address,length);
     master->rx_num_packets=num;
-    if(master->return_level==no_return)
+    if(master->return_level==NO_RETURN)
       master->rx_no_answer=0x01;
     else
       master->rx_no_answer=0x00;
@@ -959,7 +959,7 @@ unsigned char dyn_master_sync_read(TDynamixelMaster *master,unsigned char num,un
       return error;
     }
     // wait for the replay within the given timeout
-    if(master->return_level!=no_return)
+    if(master->return_level!=NO_RETURN)
     {
       for(i=0;i<num;i++)
       {
@@ -993,7 +993,7 @@ unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,un
   else
     dyn2_init_bulk_read_packet(master->tx_buffer,num,ids,address,length);
   master->rx_num_packets=num;
-  if(master->return_level==no_return)
+  if(master->return_level==NO_RETURN)
     master->rx_no_answer=0x01;
   else
     master->rx_no_answer=0x00;
@@ -1012,7 +1012,7 @@ unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,un
     return error;
   }
   // wait for the replay within the given timeout
-  if(master->return_level!=no_return)
+  if(master->return_level!=NO_RETURN)
   {
     for(i=0;i<num;i++)
     {

dynamixel_base/src/dynamixel_slave.c

@@ -176,7 +176,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
                          dyn_slave_send_status_packet(slave,DYN_NO_ERROR,0,data);
                        break;
         case DYN_READ: error=slave->on_read(dyn_get_read_address(slave->rx_buffer),dyn_get_read_length(slave->rx_buffer),data);
-                       if(slave->return_level!=no_return && id!=DYN_BROADCAST_ID)
+                       if(slave->return_level!=NO_RETURN && id!=DYN_BROADCAST_ID)
                        {
                          if(error==DYN_NO_ERROR)
                            dyn_slave_send_status_packet(slave,DYN_NO_ERROR,dyn_get_read_length(slave->rx_buffer),data);
@@ -186,7 +186,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
                        break;
         case DYN_WRITE: length=dyn_get_write_data(slave->rx_buffer,data);
                         error=slave->on_write(dyn_get_write_address(slave->rx_buffer),length,data);
-                        if(slave->return_level==return_all && id!=DYN_BROADCAST_ID)
+                        if(slave->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
                         {
                           if(error==DYN_NO_ERROR)
                             dyn_slave_send_status_packet(slave,DYN_NO_ERROR,0,data);
@@ -196,7 +196,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
                         break;
         case DYN_REG_WRITE: slave->reg_length=dyn_get_reg_write_data(slave->rx_buffer,slave->reg_buffer);
                             slave->reg_address=dyn_get_reg_write_address(slave->rx_buffer);
-                            if(slave->return_level==return_all && id!=DYN_BROADCAST_ID)
+                            if(slave->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
                               dyn_slave_send_status_packet(slave,DYN_NO_ERROR,0,data);
                             break;
         case DYN_ACTION: if(slave->reg_address!=0xFFFF)
@@ -205,7 +205,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
                            slave->reg_address=0xFFFF;
                          }
                          else
-                           if(slave->return_level==return_all && id!=DYN_BROADCAST_ID)
+                           if(slave->return_level==RETURN_ALL && id!=DYN_BROADCAST_ID)
                              dyn_slave_send_status_packet(slave,DYN_INST_ERROR,0,data);